定时器在PID运算中的应用.doc

/*系统的PID部分：主要负责左右底盘电机的PID调速注：接线相关设定： 左电机 右电机 正转（向前），码盘输出高 正转（向前），码盘输出低*/#include #include /PID宏#define KAVALUE_L 250 /110#define KBVALUE_L 100 /50#define KCVALUE_L 0#define KAVALUE_R 250 /110#define KBVALUE_R 100 /50#define KCVALUE_R 0#define U_MAX(102310) /ICP的最高值 #define U_MIN (-102310) /(-1023vi_Ref - pp-vi_FeedBack);/ 偏差计数 d_error = error - pp-vi_PreError; /e-e(n-1) dd_error=d_error-pp-vi_PreDerror; / pp-vi_PreError = error;/存储当前偏差pp-vi_PreDerror = d_error;if( ( error -DEADLINE ) );/设置调节死区elsepp-vl_PreU += ( ( pp - Ka * d_error + pp - Kb * error ) + (pp-Kc*dd_error);if( pp-vl_PreU =U_MAX ) /防止调节最高溢出pp-vl_PreU = U_MAX;if( pp-vl_PreU vl_PreU = U_MIN;return (pp-vl_PreU10);/ 返回预调节占空比void L_PIDInit ()L_sPID.vi_Ref = 0 ; /速度设定值L_sPID.vi_FeedBack = 0 ;/速度反馈值L_sPID.vi_PreError = 0 ; /前一次，速度误差,vi_Ref - vi_FeedBackL_sPID.vi_PreDerror = 0 ;/前一次，速度误差之差，d_error-PreDerror;L_sPID.Ka = KAVALUE_L;L_sPID.Kb = KBVALUE_L;L_sPID.Kc = KCVALUE_L;L_sPID.vl_PreU=0;void R_PIDInit ()R_sPID.vi_Ref = 0 ; /速度设定值R_sPID.vi_FeedBack = 0 ;/速度反馈值R_sPID.vi_PreError = 0 ; /前一次，速度误差,vi_Ref - vi_FeedBackR_sPID.vi_PreDerror = 0 ;/前一次，速度误差之差，d_error-PreDerror;R_sPID.Ka = KAVALUE_R;R_sPID.Kb = KBVALUE_R;R_sPID.Kc = KCVALUE_R;R_sPID.vl_PreU=0;/*外部中断计数*/#pragma interrupt_handler int0_isr:2void int0_isr(void) if(dirl) counter_l+; else counter_l-;/*外部中断计数*/#pragma interrupt_handler int1_isr:3void int1_isr(void) if(dirr) counter_r+; else counter_r-;/TIMER2 initialize - prescale:1024/ WGM: Normal/ desired value: 10mSec/ actual value: 9.984mSec (0.2%)void timer2_init(void) TCCR2 = 0x00; /stop ASSR = 0x00; /set async mode TCNT2 = 0xD9; /setup OCR2 = 0x27; TCCR2 = 0x07; /startvoid timer2_stop() CLI(); TIMSK &= (1=0)setmotor(l,f,temp); else setmotor(l,b,0-temp); /*右电机PID调节*/if(pid_enabler) R_sPID.vi_FeedBack=counter_r; counter_r=0; temp=v_PIDCalc(&R_sPID)